set(MOVEIT_LIB_NAME moveit_collision_detection_fcl)

add_library(${MOVEIT_LIB_NAME}
  src/collision_common.cpp
  src/collision_robot_fcl.cpp
  src/collision_world_fcl.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION 0.7.3)

target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${LIBFCL_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})

install(TARGETS ${MOVEIT_LIB_NAME}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})

if(CATKIN_ENABLE_TESTING)
  find_package(moveit_resources REQUIRED)
  include_directories(${moveit_resources_INCLUDE_DIRS})

  catkin_add_gtest(test_fcl_collision_detection test/test_fcl_collision_detection.cpp)
  target_link_libraries(test_fcl_collision_detection  ${MOVEIT_LIB_NAME} ${Boost_LIBRARIES})
endif()
